Shark: z=vp(x,y) - File Exchange

Code covered by the BSD License

Highlights from
Shark

J=rpy2J(rpy) J=rpy2J(rpy); computes generalised Jacobian matrix which
R_eb=rpy2R_eb(rpy) R_eb=rpy2R_eb(rpy), computes the rotation matrix of e-frame wrt b-frame,
[Cl,Cd,xcp]=a2clcdxc(alfa) [Cl,Cd,xcp]=a2clcdxc(alfa) computes hydrodynamic coefficients Cl and Cd
[v1,v2,v3]=vehicle()
a2clcd(alfa) [Cl, Cd] = a2clcd(alfa) computes hydrodynamic coefficients Cl and Cd
demos DEMOS Demo list for Shark.
shark() (the function shark adds the needed folders to the matlab path)
tc=tau_cor(veh,v,vr) tc=tau_cor(veh,v,vr) calculates coriolis forces from
td=tau_damp(veh,vr,de) td=tau_damp(veh,vr,de); calculates damping forces from
tr=tau_rest(veh,p) tr=tau_rest(veh,p); calculates restoring forces from
xdot=vxdot(xu) computes state derivatives as a function of state and input
z=vp(x,y)
contents.m
linattk.m
NLKSF
OPLOOP
xtrlmod
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from Shark by Giampiero Campa
Nonlinear 6DOF Model of an Underwater Vehicle

z=vp(x,y)

function z=vp(x,y)

% z=vp(x,y); z = 3d cross product of x and y
% vp(x) is the 3d cross product matrix : vp(x)*y=vp(x,y).
%
% by Giampiero Campa.  

z=[  0    -x(3)   x(2);
    x(3)    0    -x(1);
   -x(2)   x(1)    0   ];

if nargin>1, z=z*y; end

Highlights from Shark

Highlights from
Shark